基于系统芯片的捷联式定向系统研究

【作者】 李秉玺；

【导师】 赵忠；

【作者基本信息】 西北工业大学 ， 精密仪器及机械， 2004， 硕士

【摘要】 航向与姿态是最重要的导航参数,其测量方法、测量精度与定位定向系统性能和成本密切相关。本文提出了一种捷联式定向系统全芯片化设计新方案,以磁阻传感器和微机械加速度计组成姿态测量单元,以系统芯片为核心构建捷联定向系统的硬件平台,完成测量数据处理和定向算法,实现全姿态测量。 本文首先阐述了定向系统的发展现状以及论文的创新点;研究了姿态敏感器件的结构、数学模型和测量原理;在此基础上研究了捷联式定向系统的组成原理,推导了通过姿态计算和地磁场坐标变换确定载体的磁航向,经过罗差校正和磁场校正实现真航向测量的算法;然后介绍了系统芯片的体系结构,解决了传感器输出信号电压范围、噪声电压与A/D分辨率的矛盾,匹配系统芯片负载能力的置位/复位脉冲电路等关键技术问题并设计了相关电路;对引起系统误差的各种因素进行了全面细致的分析,针对制造误差、安装误差、姿态信号误差和罗差等进行了误差数学模型的推导并提出了相应的补偿方案;最后,结合系统设计方案和捷联式定向系统算法流程,研制了原理样机并开发了软件。通过对原理样机的实验测试,验证了本文提出方案的正确性和可行性。 实验结果表明,航向角测量精度较高,工作稳定可靠。该系统具有全固态结构、低功耗、低成本、快速启动、便于维护、无长期漂移等优点,研究成果对低成本航向测量有重要意义。更多还原

【Abstract】 Heading and attitude are the most important parameters in the navigation and locating system. The method to measure it and the accuracy of the measurement are the key problems by improving the performance and decreasing the cost of the navigation system. In this paper, a novel stapdown attitude heading reference system is researched, which use magnetoresistive sensor and Micro Electro-Mechanical accelerator to compose the attitude measurement unit, and use the SoC (System on Chip) as the core of the hardware platform to collect the experiment data and to realize the strapdown algorithm. It can implement full-scale attitude detection.The development of AITRS is introduced firstly. The structure and the operating principle of attitude sensors are described with the mathmatics model. Based on this, the paper researched the algorithm to realize the heading measurement, which based on measuring the geomagnetic field intensity and the gravity acceleration. Thirdly, the architecture of the SoC is presented. The small solid-state design scheme is reseached and the circuit is designed. Then, after analyzing the cause of the system error, the effective method to compensate errors is bringing forwarded, which include the manufacture errors, the attachment erros, the attitude errors and the compass deviation. Finally, the design of hardware and navigation software for the system is carried out.The experiment results show that the heading measurement is better in accuray, stable and reliable in operation. This stapdown AHRS takes advantages of solid state structure, low consumption, low cost, fast start-up, simplicity in maintenance and without long-term drift.更多还原